CN116045982A - A shipboard path planning method and device for emergency rescue situations - Google Patents

Abstract

The disclosure provides a ship path planning method and device for emergency rescue, wherein the method comprises the following steps: acquiring real-time environment data on a ship, and determining a first path of a target object based on the real-time environment data, wherein the first path is a path supporting the passing of the target object; determining a target parameter corresponding to the target object; performing operation based on the target parameters to obtain an operation result; and determining a target path matched with the operation result in the first path so as to carry out path planning operation on the target object based on the target path.

Description

A method and device for shipboard path planning for emergency rescue situations

Technical Field

The present disclosure relates to the field of data processing technology, and in particular to a method and device for shipboard path planning for emergency rescue situations.

Background Art

Large passenger ships are often affected by various emergencies when sailing at sea, which interfere with the normal operation of the ships. These emergencies will also have an adverse effect on the psychology and behavior of tourists, thereby increasing the difficulty and cost of evacuation in emergency situations.

However, in existing tourist evacuation plans for emergencies, tourists are often guided to evacuate through pre-installed escape road signs, which can easily cause congestion on the escape routes. At the same time, when the escape routes become ineffective due to emergencies, it is impossible to successfully guide tourists to evacuate quickly, thereby reducing the efficiency of tourist evacuation.

Summary of the invention

The embodiments of the present disclosure at least provide a method and device for shipboard path planning for emergency rescue situations.

In a first aspect, an embodiment of the present disclosure provides a method for shipboard path planning for emergency rescue situations, including:

Acquire real-time environmental data on board the ship, and determine a first path of the target object based on the real-time environmental data, wherein the first path is a path that supports passage of the target object;

Determining target parameters corresponding to the target object;

Performing calculation based on the target parameter to obtain a calculation result;

A target path matching the operation result is determined in the first path, so as to perform a path planning operation for the target object based on the target path.

In an optional implementation manner, performing calculation based on the target parameter to obtain a calculation result includes:

Get the score of the target parameter given by the scoring object;

The scores of the target parameters are calculated based on the scoring objects to obtain the weights of the target parameters, and the weights are determined as the calculation results.

In an optional implementation manner, the scoring of the target parameter based on the scoring object is calculated to obtain the weight of the target parameter, including:

When the number of the target parameters is m, based on the scores of the scoring objects on the m target parameters, the importance ratios r _i of each target parameter to the adjacent target parameters are calculated;

计算目标参数U_m的权重w_m；According to the formula

Calculate the weight w _m of the target parameter U _m ;

The weights w _k-1 of other target parameters except the target parameter U _m are calculated according to the formula w _k -1 = _k w _k , where k = m, m-1, -2, . . . 2.

In an optional implementation, the calculation of the importance ratio _ri of each target parameter to an adjacent target parameter based on the scores of the scoring object on the m target parameters includes:

Based on the scores of the scoring objects on the m target parameters, determine the entropy value e _j of each of the target parameters;

计算各个所述目标参数与相邻目标参数的重要性比值r_i。According to the formula

The importance ratios _ri of each target parameter to its adjacent target parameters are calculated.

In an optional implementation manner, determining a target path matching the operation result in the first path includes:

determining a result condition based on the operation result;

When the calculation result includes the weight w _m of the target parameter U _m , the target value C corresponding to each of the first paths is calculated according to the formula C=∑ _m=1 w _m U _m ;

A target path is determined in the first path in which the target value C satisfies the result condition.

In an optional implementation, the target parameters include: path time parameter, path distance parameter, congestion parameter, number of turns parameter, object scheduling parameter, escape exit utilization parameter, escape path congestion parameter, and path equivalent parameter.

In an optional implementation manner, determining a first path of the target object based on the real-time environment data includes:

determining an object type of the target object;

Based on the real-time environment data, a first path is determined whose path data matches the object type.

In a second aspect, the embodiment of the present disclosure further provides a shipboard path planning device for emergency rescue situations, comprising:

an acquisition unit, configured to acquire real-time environmental data on board the ship, and determine a first path of the target object based on the real-time environmental data, wherein the first path is a path that supports passage of the target object;

A first determining unit, used to determine a target parameter corresponding to the target object;

A calculation unit, used to perform calculation based on the target parameter to obtain a calculation result;

The second determining unit is used to determine a target path matching the calculation result in the first path, so as to perform a path planning operation for the target object based on the target path.

In a third aspect, an embodiment of the present disclosure further provides a computer device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor and the memory communicate via the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned first aspect, or any possible implementation of the first aspect are performed.

In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned first aspect, or any possible implementation of the first aspect are executed.

In the disclosed embodiment, first, the real-time environmental data on the ship can be obtained, and based on the real-time environmental data, a first path that supports passage can be determined for the target object. Next, the target parameter corresponding to the target object can be determined, and the operation can be performed based on the target parameter to obtain the operation result. Then, a target path that matches the operation result can be determined in the first path, and a path planning operation can be performed for the target object based on the target path, so as to realize dynamic path planning for the target object in combination with the real-time environmental data on the ship, so as to improve the efficiency and safety of the planned path, and improve the evacuation efficiency in emergency situations.

In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used together with the specification to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can also be obtained based on these drawings without creative work.

FIG1 shows a flow chart of a method for shipboard path planning for emergency rescue situations provided by an embodiment of the present disclosure;

FIG2 is a schematic diagram showing a two-dimensional space model of a part of a space on a ship provided by an embodiment of the present disclosure;

FIG3 shows a schematic diagram of a topological network of a two-dimensional space model provided by an embodiment of the present disclosure;

FIG4 shows a schematic diagram of a shipboard path planning device for emergency rescue situations provided by an embodiment of the present disclosure;

FIG5 shows a schematic diagram of a computer device provided by an embodiment of the present disclosure.

DETAILED DESCRIPTION

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The components of the embodiments of the present disclosure generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present disclosure.

It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not require further definition and explanation in the subsequent drawings.

The term "and/or" herein only describes an association relationship, indicating that three relationships may exist. For example, A and/or B may represent the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set consisting of A, B, and C.

Research has found that large passenger ships are often affected by various emergencies when sailing at sea, which interfere with the normal operation of the ships. These emergencies will also have an adverse effect on the psychology and behavior of tourists, thereby increasing the difficulty and cost of evacuation in emergency situations.

However, in existing tourist evacuation plans for emergencies, tourists are often guided to evacuate through pre-installed escape road signs, which can easily cause congestion on the escape routes. At the same time, when the escape routes become ineffective due to emergencies, it is impossible to successfully guide tourists to evacuate quickly, thereby reducing the efficiency of tourist evacuation.

Based on the above research, the present disclosure provides a method and device for shipboard path planning for emergency rescue situations. In an embodiment of the present disclosure, first, the real-time environmental data on the ship can be obtained, and based on the real-time environmental data, a first path that supports passage can be determined for the target object. Next, the target parameters corresponding to the target object can be determined to perform calculations based on the target parameters to obtain calculation results. Then, a target path that matches the calculation results can be determined in the first path, and a path planning operation can be performed for the target object based on the target path, thereby combining the real-time environmental data on the ship to achieve dynamic path planning for the target object, so as to improve the efficiency and safety of the planned path, and improve the evacuation efficiency in emergency situations.

To facilitate understanding of this embodiment, a shipboard path planning method for emergency rescue situations disclosed in an embodiment of the present disclosure is first introduced in detail. The execution subject of the shipboard path planning method for emergency rescue situations provided in the embodiment of the present disclosure is generally a computer device with certain computing capabilities. In some possible implementations, the shipboard path planning method for emergency rescue situations can be implemented by a processor calling a computer-readable instruction stored in a memory.

Referring to FIG. 1 , a flow chart of a method for shipboard path planning for emergency rescue situations provided by an embodiment of the present disclosure is shown. The method includes steps S101 to S107, wherein:

S101: Acquire real-time environmental data on board a ship, and determine a first path of a target object based on the real-time environmental data, wherein the first path is a path that supports passage of the target object.

In the disclosed embodiment, firstly, a topological network of the passenger ship space can be obtained, wherein the topological network is a topological network composed of room nodes as points and paths as lines. Next, real-time environmental data on the ship is obtained based on the topological network, wherein the real-time environmental data includes path data and disaster data corresponding to the emergency event.

After determining the real-time environmental data, a second path that supports passage can be determined based on the disaster data and the path data, for example, a path that can reach an emergency exit without passing through the disaster site. Next, a first path that supports passage of the target object can be determined in the second path. For example, if the target object is a wheelchair user, a first path that does not include steps can be determined in the second path.

S103: Determine target parameters corresponding to the target object.

S105: Perform calculation based on the target parameter to obtain a calculation result.

In the disclosed embodiment, the target parameter may include a path evaluation index, and an operation may be performed based on the path evaluation index to obtain an operation result of the target parameter, wherein the operation result may include a weight of the target parameter. Specifically, an expression corresponding to the target parameter may be determined by mathematical means, and the target parameter may be operated based on the expression to obtain an operation result. The specific method of determining the target parameter and performing the operation based on the target parameter is as follows, which will not be repeated here.

S107: Determine a target path matching the calculation result in the first path, and perform a path planning operation for the target object based on the target path.

In the embodiment of the present disclosure, the result condition can first be determined based on the calculation result, wherein the result condition can be used to indicate the target path in the first path that is most compatible with the target object, for example, a target path that is close to the escape exit and has the shortest distance, and is convenient for scheduling the target object to escape. The specific method for determining the target path is as follows and will not be repeated here.

After the target path is determined, a path planning operation can be performed based on the target path to guide the target object to evacuate based on the target path, or a rescue path can be planned for rescuers based on the target path to rescue the target object based on the rescue path.

It should be understood that, taking into account the uncertainty of emergencies and the variability of scenarios, the path planning operation in the present disclosure is dynamic. Specifically, the path planning time t can be set. After executing the path planning operation to plan a path for the target object, the real-time environmental data on the ship can be re-acquired every time the path planning time t passes, so as to update the target path based on the real-time environmental data, and re-plan the path for the target object based on the updated target path to adapt to the uncertainty of emergencies and the variability of scenarios.

It can be seen from the above description that in the embodiment of the present disclosure, first, the real-time environmental data on the ship can be obtained, and based on the real-time environmental data, a first path that supports passage can be determined for the target object. Next, the target parameter corresponding to the target object can be determined, and the operation can be performed based on the target parameter to obtain the operation result. Then, a target path that matches the operation result can be determined in the first path, and a path planning operation can be performed for the target object based on the target path, so as to realize dynamic path planning for the target object in combination with the real-time environmental data on the ship, so as to improve the efficiency and safety of the planned path, and improve the evacuation efficiency in emergency situations.

In an optional implementation, the above step S101, determining the first path of the target object based on the real-time environment data, specifically includes the following process:

S1011: Determine the object type of the target object.

S1012: Based on the real-time environment data, determine a first path whose path data matches the object type.

In the disclosed embodiment, firstly, real-time environmental data can be obtained. As can be seen from the above, real-time environmental data on board can be obtained based on the topological network of the passenger ship space, wherein the topological network is a topological network composed of room nodes as points and paths as lines.

Specifically, the Indoor gml topological model can be used to map the passenger ship space into a topological network, in which each room in the indoor space can be abstracted as a node, and the connecting channels between rooms can be abstracted as edges. Here, FIG2 is a schematic diagram of a two-dimensional space model of part of the ship, and FIG3 is a schematic diagram of the topological network of the two-dimensional space model.

Next, the real-time environmental data on board can be obtained based on the topological network. The following Table 1 shows the path data in the real-time environmental data.

Table 1 Path data

Among them, nodes and adjacent nodes can represent two adjacent rooms in the topological network, distance can be used to indicate the length of the path between nodes and adjacent nodes, road type can be used to indicate whether the path has steps, restricted user type can be used to indicate the type of objects that are inaccessible on the path, disaster status can be used to indicate whether the path is affected by an emergency, and population density can be used to indicate the population density of the path at the current moment.

In addition, it can be seen from the above that the real-time environmental data can also include disaster data. The following Table 2 shows the disaster data in the real-time environmental data.

Table 2 Disaster data

The path data in Table 1 may be updated based on the disaster data in Table 2.

In specific implementation, the above-mentioned real-time environmental data can be collected based on measurement, sensors, data entry by collection staff, etc. The present disclosure does not specifically limit the method of collecting the real-time environmental data, which is based on what can be implemented.

Next, object data of the onboard object may be acquired, as shown in Table 3 below.

Table 3 Object data

Specifically, the object type of the target object may be acquired based on Table 3, and based on the object type, path data matching the object type of the target object may be searched in Table 1, and the first path corresponding to the path data may be determined.

In the embodiment of the present disclosure, the object type of the target object can be determined, and a first path whose path data matches the object type can be determined, thereby improving the compatibility of the determined first path with the target object and improving the usage experience of the target object.

In an optional embodiment, the above-mentioned target parameters include: path time parameter, path distance parameter, congestion parameter, number of turns parameter, object scheduling parameter, escape exit utilization parameter, escape path congestion parameter, and path equivalent parameter.

In the embodiment of the present disclosure, the path time parameter can be used to calculate the time required for the target object in the first path and determine the first path with the shortest time consumption, wherein the expression of the path time parameter can be:

Wherein, t _ij represents the normal walking time of the target object from node i to node j in a static environment, the passage between node i and node j is the first path mentioned above, Δt _ij represents the time that the target object is delayed in the first path when an emergency occurs, and V represents the set of all exit nodes on the ship. For example, if the first path includes two sections, section A is 10m long and section B is 15m long, and the speed of the target object is 1.2m/s, where the delay time of section A affected by the degree of disaster is Δt _A = 5s, and the delay time of section A affected by the degree of disaster is Δt _B = 10. Then, the time taken for the target object to pass through the first path is:

The path distance parameter can be used to calculate the length of the first path and determine the first path with the shortest length, wherein the expression of the path distance parameter can be:

Among them, _Lij represents the length between node i and node j in a static environment, the channel between node i and node j is the above-mentioned first path, _ΔLij represents the detour distance caused by the unscheduled obstacle when an emergency occurs, and the _ΔLij can be determined based on the disaster data updated in real time in the above Table 2.

The crowding parameter can be used to calculate the personnel density of the first path and determine the first path with the lowest personnel density, wherein the expression of the crowding parameter can be:

Wherein, K _ij represents the congestion degree from node i to node j, and the passage from node i to node j is the first path mentioned above. For example, the first path includes section A and section B. Section A is 10m long and has 10 people, and section B is 15m long and has 20 people. Then the population density of the first path is:

It should be understood that the congestion degree of the first path can be divided based on the road congestion classification rule, wherein the road congestion classification rule includes 5 levels, wherein a population density of 0-2 is unobstructed, a population density of 2-4 is basically unobstructed, a population density of 4-6 is slightly congested, a population density of 6-8 is moderately congested, and a population density of 8-10 is severely congested. Based on this, the congestion degree corresponding to the population density of 1.42 on the first path is unobstructed.

The number of turns parameter can be used to calculate the turning degree of the first path and determine the first path with the smallest turning degree, wherein the expression of the number of turns parameter can be:

Among them, the first path includes section ij and section jk, ( _ij, ) is used to indicate the vector angle between section ij and section jk. The smaller the vector angle is, the closer the sections ij and jk are to a vertical path, and the smaller the turning degree is.

In addition, after determining ( _ij, ), we can use the angle threshold ε to calculate the 0-1 distribution of the turning degree, and the expression function is:

For example, the first path includes section A, section B and section C. The vector angle between section A and section B is 30 degrees, and the vector angle between section B and section C is 50 degrees. ε=40 is set. Then, the turning degree of the first path is U ₄ =30+50=80. The turning degree after 0-1 distribution based on the angle threshold ε is U ₄ =0+1=1.

The object scheduling parameter may be used to calculate the object scheduling cost of the first path and determine the first path with the lowest object scheduling cost, wherein the expression of the object scheduling parameter may be:

Wherein, E represents the object type included in the above Table 3, Nd represents the node set in the first path, ω _ikt is the unit cost of the target object of object type k staying in the node i in the first path within the above path planning time t, and v _ikt is the number of target objects of object type k staying within the above path planning time t.

For example, the first path corresponds to two path planning times t. The first path contains target objects of two types of objects and 3 nodes. During the path planning time t1, the number of first-type target objects stranded at node 1 is 5, and its unit cost is 1.2, the number of second-type target objects stranded at node 1 is 8, and its unit cost is 1, and the number of first-type target objects stranded at node 3 is 4, and its unit cost is 1.5; during the second period of time, the number of first-type target objects stranded at node 2 is 9, and its unit cost is 1.2, and the number of second-type target objects stranded at node 3 is 8, and its unit cost is 1.

Then, the object scheduling cost of the first path is U ₅ =5*1.2+8*1+4*1.5+9*1.2+8*1=38.8.

The escape exit utilization parameter can be used to calculate the utilization of each escape exit on the ship, and calculate the utilization difference to determine the first path with the smallest utilization difference. The expression of the escape exit utilization parameter can be:

Wherein, n represents the number of available emergency exits at the current moment, i and j represent the corresponding emergency exits, _Pi represents the number of people evacuated through exit i, _Pj represents the number of people evacuated through exit j, and | _Pi - _Pj | represents the absolute value of the difference in utilization rate between emergency exit i and emergency exit j.

For example, there are 4 emergency exits. In the emergency rescue route planning, the number of evacuees from the 4 exits are 12, 20, 14, and 15 respectively. Then, U ₆ =|12-20|+|12-14|+|12-15|+|20-14|+|20-15|+|14-15|=25.

The escape path congestion parameter can be used to calculate the escape congestion degree of the first path and determine the first path with the lowest escape congestion degree. The expression of the escape path congestion parameter can be:

Wherein, n represents the number of road sections in the first path, _Lj represents the length of road section j in the first path, v represents the travel speed of the target object, and _Pj is the number of target objects passing through road section j at the same time. When the number is less than 5, the congestion level can be regarded as having no impact on the passage of the road section.

For example, if the first path includes sections A, B, C, and D, and the number of target objects passing through at the same time is 6, 10, 4, and 7 respectively, and the target object's passing speed v = 1.2 m/s, then the escape congestion degree of the first path is

The path equivalent parameter is used to calculate the path equivalent of the first path and determine the first path with the smallest path equivalent, wherein the path equivalent can be used to indicate the difficulty coefficient of the first path. The expression of the path equivalent parameter can be:

Wherein, n represents the number of sections in the first path, _Lj represents the length of section j in the first path, _β1j , _β2j , _β3j represent the wind and wave, slope and travel difficulty coefficients of different obstacle types of section j respectively.

For example, if the first path includes section A, section B and section C, and the lengths of the sections are 5m, 8m and 10m respectively, and the difficulty coefficients are set to (1.5, 1, 2), (1.2, 1.6, 1.8), and (1, 1.2, 1.5) respectively, then the path equivalent of the first path is U ₈ =5*1.5*1*2+8*1.2*1.6*1.8+10*1*1.2*1.5=60.648.

In the disclosed embodiment, the first path can be screened by using a variety of target parameters, thereby improving the scientific nature of the algorithm, making the determined target path more compatible with the target object, and improving the user experience of the target object.

In an optional implementation, the above step S105, based on the target parameter, performs operation on the first path to obtain the operation result, specifically includes the following process:

S1051: Obtain the score of the scoring object on the target parameter.

S1052: Calculate the score of the target parameter based on the scoring object to obtain the weight of the target parameter, and determine the weight as the calculation result.

In the embodiment of the present disclosure, it can be seen from the above Table 1 that the path data of the first path is dimensional data with inherent and measurable physical properties. Therefore, it is impossible to directly operate on dimensional path data with different units. Based on this, the path data can be preprocessed in advance, wherein the preprocessing can be a dimensionless normalization processing, thereby converting the path data into dimensionless normalized data.

对所述路径数据y_ij进行预处理，得到所述路径数据y_ij对应的无量纲归一数据x_ij。In specific implementation, for the path data y _ij , the formula

The path data y _ij is preprocessed to obtain dimensionless normalized data x _ij corresponding to the path data y _ij .

的取值，yimin＝0。The ^path data _yij can be used to indicate the path data of the jth target object corresponding to the ith target parameter, _yimax can be used to indicate the maximum value of the ith ^target parameter, ^and _yimin can be used to indicate the minimum value of the ith target parameter. For example, when the ith target parameter is a path distance parameter, _yimax can be used to indicate when _Lij and _ΔLij are the longest.

The value of , yimin=0.

After determining the dimensionless normalized data of the above-mentioned path data, the score of the scoring object for the target parameter can be obtained, and based on the score and the dimensionless normalized data, the weights of the above-mentioned each target parameter can be calculated, and the weight is determined as the calculation result. The specific method for calculating the weight of each target parameter is described as follows and will not be repeated here.

In the disclosed embodiment, the path data may be preprocessed by dimensionless normalization processing to obtain dimensionless normalized data of the path data, which provides a basis for the subsequent process of calculating the weights of various target parameters based on the dimensionless normalized data.

In an optional implementation, the above step S1053, performing calculation based on the dimensionless normalized data x _ij to obtain the weight of the target parameter, specifically includes the following process:

S11: When the number of the target parameters is m, based on the scores of the scoring objects on the m target parameters, calculate the importance ratio _ri of each target parameter to its adjacent target parameters.

计算目标参数U_m的权重w_m。S12: According to the formula

Calculate the weight w _m of the target parameter U _m .

S13: Calculate the weights w _k-1 of other target parameters except the target parameter U _m according to the formula w _k-1 = r _k w _k , where k = m, m-1, m-2, ... 2.

In the embodiment of the present disclosure, the number m of target parameters may be less than or equal to 8, and the specific value of m may be determined based on actual conditions. For example, when the sudden situation is a fire, in combination with the characteristics of the escape path under the fire situation, the path time parameter U ₁ , the path distance parameter U ₂ , the congestion parameter U ₃ and the number of turns parameter U ₄ may be selected as target parameters, and in this case, m=4.

After determining the target parameters, the target parameters can first be sorted according to importance to obtain sorting results. Here, taking the above target parameters U ₁ -U ₄ as an example, if the sorting results are U ₁ , U ₂ , U ₃ , U ₄ , the importance ratio _ri of each target parameter to its adjacent target parameters can be calculated based on the sorting results and the scores of the target parameters given by the above scoring objects. The specific method for calculating the importance ratio _ri is described as follows and will not be repeated here.

计算目标参数U_m的权重w_m，在m＝4时，目标参数U₄的权重

Next, the weight of each target parameter can be calculated based on the above ranking results and importance ratios _ri . Specifically, first, the weight of each target parameter can be calculated according to the formula

Calculate the weight w _m of the target parameter U _m . When m = 4, the weight of the target parameter U ₄ is

After determining the weight w _m of the target parameter U _m , the weights of other target parameters other than the target parameter U _m can be calculated according to the formula w _k-1 = r _k w _k , where k = m, m-1, m-2, ... 2. Specifically, when m = 4, k = 4, 3, 2.

Based on this, the weight w ₃ of the target parameter U ₃ is =r ₄ W ₄ , the weight W ₃ of the target parameter u ₂ is =r ₃ w ₃ , and the weight w ₁ of the target parameter u ₁ is =r ₂ w ₂ .

In the embodiment of the present disclosure, when there are m target parameters, the weight of each target parameter can be calculated, thereby increasing the logic of the algorithm and providing a basis for the subsequent process of determining the target path based on the target parameters and weights.

In an optional implementation, the above step S11, based on the scores of the scoring object on the m target parameters, calculates the importance ratio r _I of each target parameter to the adjacent target parameters, which specifically includes the following process:

(1) Based on the scores of the scoring objects on the m target parameters, the entropy value E _j of each target parameter is determined;

计算各个所述目标参数与相邻目标参数的重要性比值r_i。(2) According to the formula

The importance ratios _ri of each target parameter to its adjacent target parameters are calculated.

In the embodiment of the present disclosure, the entropy value e _j of each target parameter may be calculated first. Specifically, the scoring data of multiple scoring objects for each target parameter may be determined first, wherein the scoring object may be an expert, and the scoring data is shown in the following Table 4a:

Table 4a Scoring data of target parameters

U ₁ U ₂ U ₃ U ₄ Expert 1 10 8 7 4 Expert 2 10 7 7 5 Expert 3 10 8 6 5

确定出各个目标参数的特征比重，其中，v_ij为第i个专家对第n个目标参数的评分数据，i＝1，2，3；j＝1，2，3，4。确定出的特征比重如下表4b所示：Next, the characteristic weight of the secret parameter can be determined based on the scoring data in Table 4a. Specifically, it can be determined by the formula

The characteristic weight of each target parameter is determined, where v _ij is the scoring data of the ith expert on the nth target parameter, i = 1, 2, 3; j = 1, 2, 3, 4. The determined characteristic weights are shown in Table 4b below:

Table 4b Characteristic weights of target parameters

U ₁ U ₂ U ₃ U ₄ Expert 1 0.33 0.35 0.35 0.28 Expert 2 0.33 0.30 0.35 0.36 Expert 3 0.33 0.35 0.30 0.36

确定出各个目标参数的熵值，其中，f_ij为第i个专家对第n个目标参数的评分数据，i＝1，2，3；j＝1，2，3，4。确定出的熵值如下表4c所示：After determining the characteristic weight of each target parameter, the formula

The entropy value of each target parameter is determined, where _fij is the scoring data of the i-th expert on the n-th target parameter, i = 1, 2, 3; j = 1, 2, 3, 4. The determined entropy values are shown in Table 4c below:

Table 4c Entropy values of target parameters

Entropy U ₁ U ₂ U ₃ U ₄ e _j 1 0.998 0.998 0.994

计算各个目标参数与相邻目标参数的重要性比值r_i，其中，k＝j。After determining the entropy value _ej of each target parameter, the formula

The importance ratio _ri of each target parameter to its adjacent target parameters is calculated, where k=j.

In specific implementation, the adjacent target parameters of each target parameter can be determined based on the above ranking results, and the importance ratios r _i of each target parameter can be calculated based on the adjacent target parameters. For example, the importance ratio _{r 4 of} the adjacent target parameter U ₃ of the target parameter U ₄ can be calculated based on the adjacent target parameter U _3. Specifically, the importance ratios of each target parameter determined are shown in the following Table 4d:

Table 4d Importance ratio of target parameters

ratio U ₁ U ₂ U ₃ U _{4 1} — 1.002 1 1.004

In the disclosed embodiment, the importance ratio of each target parameter can be calculated, thereby increasing the logic of the algorithm and providing a basis for the subsequent process of determining the target parameter weight based on the target parameter importance ratio.

In an optional implementation, the above step S107, determining a target path in the first path whose operation result satisfies the result condition, specifically includes the following process:

S1071: Determine a result condition based on the operation result.

S1072: When the calculation result includes the weight w _m of the target parameter U _m , calculate the target value C corresponding to each of the first paths according to the formula C=∑ _m=1 w _m U _m .

S1073: Determine a target path in the first path whose target value C satisfies the result condition.

In the embodiment of the present disclosure, when m=4, the weights of the target parameters are shown in Table 5 below:

Table 5 Weights of target parameters

Weight U ₁ U ₂ U ₃ U ₄ w 0.2506 0.2501 0.2501 0.2491

After determining the target parameters and corresponding weights of the first paths, the target values C corresponding to the first paths can be calculated by formula C=∑ _m=1 w _m U _m , and the target paths whose target values C satisfy the result conditions can be determined, wherein the result conditions can be sorting conditions. Specifically, the first path with the smallest target value C can be determined as the target path that satisfies the result conditions.

In the embodiment of the present disclosure, the first path with the smallest calculated target value C can be determined as the target path, so that when the target object is evacuated based on the target path, the target path has the highest evacuation efficiency and the strongest availability, thereby improving the evacuation efficiency of the target object.

In summary, in the disclosed embodiment, first, the real-time environmental data on the ship can be obtained, and based on the real-time environmental data, a first path that supports passage can be determined for the target object. Next, the target parameter corresponding to the target object can be determined, and the operation can be performed based on the target parameter to obtain the operation result. Then, a target path that matches the operation result can be determined in the first path, and a path planning operation can be performed for the target object based on the target path, thereby combining the real-time environmental data on the ship to realize dynamic path planning for the target object, so as to improve the efficiency and safety of the planned path, and improve the evacuation efficiency in emergency situations.

Those skilled in the art will appreciate that, in the above method of specific implementation, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

Based on the same inventive concept, the embodiment of the present disclosure also provides a shipboard path planning device for emergency rescue situations corresponding to the shipboard path planning method for emergency rescue situations. Since the principle of solving the problem by the device in the embodiment of the present disclosure is similar to the above-mentioned shipboard path planning method for emergency rescue situations in the embodiment of the present disclosure, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

4 is a schematic diagram of a shipboard path planning device for emergency rescue provided by an embodiment of the present disclosure, the device comprising: an acquisition unit 41, a first determination unit 42, a calculation unit 43, and a second determination unit 44; wherein,

An acquisition unit 41 is used to acquire real-time environmental data on the ship, and determine a first path of the target object based on the real-time environmental data, wherein the first path is a path that supports the passage of the target object;

A first determining unit 42, configured to determine a target parameter corresponding to the target object;

A calculation unit 43, used to perform calculation based on the target parameter to obtain a calculation result;

The second determining unit 44 is used to determine a target path matching the calculation result in the first path, so as to perform a path planning operation for the target object based on the target path.

In the disclosed embodiment, first, the real-time environmental data on the ship can be obtained, and based on the real-time environmental data, a first path that supports passage can be determined for the target object. Next, the target parameter corresponding to the target object can be determined, and the operation can be performed based on the target parameter to obtain the operation result. Then, a target path that matches the operation result can be determined in the first path, and a path planning operation can be performed for the target object based on the target path, so as to realize dynamic path planning for the target object in combination with the real-time environmental data on the ship, so as to improve the efficiency and safety of the planned path, and improve the evacuation efficiency in emergency situations.

In a possible implementation manner, the computing unit 43 is further configured to:

Get the score of the scoring object on the target parameter;

The score of the target parameter is calculated based on the scoring object to obtain the weight of the target parameter, and the weight is determined as the calculation result.

In a possible implementation manner, the computing unit 43 is further configured to:

When the number of the target parameters is m, based on the scores of the scoring objects on the m target parameters, the importance ratios r _i of each target parameter to the adjacent target parameters are calculated;

计算目标参数U_m的权重w_m；According to the formula

Calculate the weight w _m of the target parameter U _m ;

The weights w _k-1 of other target parameters except the target parameter U _m are calculated according to the formula w _k -1 = _k w _k , where k = m, m-1, -2, . . . 2.

In a possible implementation manner, the computing unit 43 is further configured to:

Based on the scores of the scoring objects on the m target parameters, determine the entropy value e _j of each of the target parameters;

计算各个所述目标参数与相邻目标参数的重要性比值r_i。According to the formula

The importance ratios _ri of each target parameter to its adjacent target parameters are calculated.

In a possible implementation manner, the second determining unit 44 is further configured to:

Determining a result condition based on the operation result;

When the calculation result includes the weight w _m of the target parameter U _m , the target value C corresponding to each of the first paths is calculated according to the formula C=∑ _m=1 w _m U _m ;

A target path is determined in the first path in which the target value C satisfies the result condition.

In a possible implementation, the target parameters include: path time parameter, path distance parameter, congestion parameter, number of turns parameter, object scheduling parameter, escape exit utilization parameter, escape path congestion parameter, and path equivalent parameter.

In a possible implementation manner, the acquisition unit 41 is further configured to:

determining an object type of the target object;

Based on the real-time environment data, a first path is determined whose path data matches the object type.

For descriptions of the processing flow of each unit in the device and the interaction flow between each unit, reference may be made to the relevant descriptions in the above method embodiments, which will not be described in detail here.

Corresponding to the onboard path planning method for emergency rescue in FIG. 1 , the embodiment of the present disclosure further provides a computer device 500. As shown in FIG. 5 , it is a schematic diagram of the structure of the computer device 500 provided in the embodiment of the present disclosure, including:

Processor 51, memory 52, and bus 53; memory 52 is used to store execution instructions, including internal memory 521 and external memory 522; the internal memory 521 is also called internal memory, which is used to temporarily store the operation data in the processor 51 and the data exchanged with the external memory 522 such as a hard disk. The processor 51 exchanges data with the external memory 522 through the internal memory 521. When the computer device 500 is running, the processor 51 communicates with the memory 52 through the bus 53, so that the processor 51 executes the following instructions:

Acquire real-time environmental data on board the ship, and determine a first path of the target object based on the real-time environmental data, wherein the first path is a path that supports passage of the target object;

Determining target parameters corresponding to the target object;

Based on the target parameter, the first path is operated to obtain an operation result;

A target path whose operation result satisfies a result condition is determined in the first path, so as to perform a path planning operation for the target object based on the target path.

The embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the shipboard path planning method for emergency rescue situations described in the above method embodiment are executed. The storage medium can be a volatile or non-volatile computer-readable storage medium.

The embodiments of the present disclosure also provide a computer program product, which carries a program code. The instructions included in the program code can be used to execute the steps of the shipboard path planning method for emergency rescue situations described in the above method embodiment. Please refer to the above method embodiment for details, which will not be repeated here.

The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is implemented as a computer storage medium. In another optional embodiment, the computer program product is implemented as a software product, such as a software development kit (SDK).

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims (10)

1. A method for shipboard path planning for emergency rescue situations, characterized by comprising: Acquire real-time environmental data on board the ship, and determine a first path of the target object based on the real-time environmental data, wherein the first path is a path that supports passage of the target object; Determining target parameters corresponding to the target object; Performing calculation based on the target parameter to obtain a calculation result; A target path matching the operation result is determined in the first path, so as to perform a path planning operation for the target object based on the target path. 2. The method according to claim 1, characterized in that the performing operation based on the target parameter to obtain the operation result comprises: Get the score of the scoring object on the target parameter; The score of the target parameter is calculated based on the scoring object to obtain the weight of the target parameter, and the weight is determined as the calculation result. 3. The method according to claim 2, characterized in that the step of calculating the score of the target parameter based on the scoring object to obtain the weight of the target parameter comprises: When the number of the target parameters is m, based on the scores of the scoring objects on the m target parameters, the importance ratios r _i of each target parameter to the adjacent target parameters are calculated; According to the formula

Calculate the weight w _m of the target parameter U _m ; The weights w _k-1 of other target parameters except the target parameter U _m are calculated according to the formula w _k -1 = _k w _k , where k = m, m-1, -2, . . . 2. 4. The method according to claim 3, characterized in that the step of calculating the importance ratio _ri of each target parameter to its adjacent target parameters based on the scores of the scoring object on the m target parameters comprises: Based on the scores of the scoring objects on the m target parameters, determine the entropy value e _j of each of the target parameters; According to the formula

The importance ratios _ri of each target parameter to its adjacent target parameters are calculated. 5. The method according to claim 1, wherein determining a target path matching the operation result in the first path comprises: Determining a result condition based on the operation result; When the calculation result includes the weight w _m of the target parameter U _m , the target value C corresponding to each of the first paths is calculated according to the formula C=∑ _m=1 w _m U _m ; A target path is determined in the first path in which the target value C satisfies the result condition. 6. The method according to claim 1 is characterized in that the target parameters include: path time parameter, path distance parameter, congestion parameter, number of turns parameter, object scheduling parameter, escape exit utilization parameter, escape path congestion parameter, and path equivalent parameter. 7. The method according to claim 1, characterized in that the determining the first path of the target object based on the real-time environmental data comprises: determining an object type of the target object; Based on the real-time environment data, a first path is determined whose path data matches the object type. 8. A shipboard path planning device for emergency rescue situations, characterized by comprising: an acquisition unit, configured to acquire real-time environmental data on board the ship, and determine a first path of the target object based on the real-time environmental data, wherein the first path is a path that supports passage of the target object; A first determining unit, used to determine a target parameter corresponding to the target object; A calculation unit, used to perform calculation based on the target parameter to obtain a calculation result; The second determining unit is used to determine a target path matching the calculation result in the first path, so as to perform a path planning operation for the target object based on the target path. 9. A computer device, characterized in that it comprises: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the onboard path planning method for emergency rescue situations as described in any one of claims 1 to 7 are performed. 10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the shipboard path planning method for emergency rescue situations as described in any one of claims 1 to 7 are executed.

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